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<li class="toctree-l3"><a class="reference internal" href="../../../python/examples/docs/data_acquisition_examples.html">Data Acquisition Examples</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/gps/README.html">GPS</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/image.html">Image</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/lease_resource_hierarchy.html">Lease Resource Hierarchy</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload_software_update.html">Payload Software Update</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload_software_update_initiation.html">Payload Software Update Initiation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/payload.html">Payload</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/point_cloud.html">Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/power.html">Power</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/processors.html">Processors</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/ray_cast.html">Ray casting</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/recording.html">Recording</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_command.html">Robot Command</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_id.html">Robot ID</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot.html">Robot</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/robot_state.html">Robot State</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/README.html">Spot CAM</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/audio.html">Audio</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/compositor.html">Compositor</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/health.html">Health</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/lighting.html">Lighting</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/lights_helper.html">Lights Helper</a></li>
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<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/power.html">Power</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/ptz.html">PTZ</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/streamquality.html">Stream Quality</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_cam/version.html">Version</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/spot_check.html">Spot Check</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/time_sync.html">Time Sync</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/token_cache.html">Token Cache</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/token_manager.html">Token Manager</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/units_helpers.html">Units Helpers</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/util.html">Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-client/src/bosdyn/client/world_object.html">World Object</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/README.html">Core</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/README.html">BDDF</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/base_data_reader.html">Base Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/block_writer.html">Block Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/bosdyn.html">BDDF Conventions</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/common.html">Common</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/data_reader.html">Data Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/data_writer.html">Data Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/file_indexer.html">File Indexer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_proto_reader.html">GRPC Proto Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_reader.html">GRPC Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_reader.html">GRPC Service Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/grpc_service_writer.html">GRPC Service Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/message_reader.html">Message Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/pod_series_reader.html">POD Series Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/pod_series_writer.html">POD Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_channel_reader.html">Protobuf Channel Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_reader.html">Protobuf Reader</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/protobuf_series_writer.html">Protobuf Series Writer</a></li>
<li class="toctree-l5"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/bddf/stream_data_reader.html">Stream Data Reader</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/geometry.html">Geometry</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/util.html">Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-core/src/bosdyn/deprecated.html">Deprecated</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/README.html">Mission</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/client.html">Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/constants.html">Constants</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/exceptions.html">Exceptions</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/remote_client.html">Remote Client</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/server_util.html">Server Util</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../../python/bosdyn-mission/src/bosdyn/mission/util.html">Util</a></li>
</ul>
</li>
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<section id="part-3-capturing-other-data">
<h1>Part 3: Capturing Other Data<a class="headerlink" href="#part-3-capturing-other-data" title="Permalink to this heading"></a></h1>
<p>In this part of the tutorial, you will:</p>
<ul class="simple">
<li><p>Write a data acquisition plugin.</p></li>
<li><p>Run the plugin, connecting to the robot.</p></li>
<li><p>Test that the plugin functions properly.</p></li>
</ul>
<p>To skip the explanation and just run the plugin, jump ahead to <a class="reference external" href="#testing-the-plugin">testing the plugin</a>.</p>
<section id="understanding-data-acquisition-plugins">
<h2>Understanding data acquisition plugins<a class="headerlink" href="#understanding-data-acquisition-plugins" title="Permalink to this heading"></a></h2>
<p>The purpose of a data acquisition plugin is to capture and store data from a particular source (such as a temperature sensor, laser scan, gas sensor, etc.) that is not directly supported by Spot. A data acquisition plugin exposes a list of “Capabilities” that can be requested during a capture event. Users do not directly communicate with a data acquisition plugin like they would with the image service example. Instead they make a request to the data acquisition service and it sends out requests to individual plugin services as appropriate. Data acquisition plugins will save their data into the data acquisition store, where it can be retrieved later.</p>
<p>The data acquisition store supports storing images, json metadata, and raw bytes. The json metadata can be used to annotate other pieces of stored data, or to just save data as json. In this example, we will read battery state from the robot and save that data as json. Every piece of data that is stored will have its own data identifier. These are built from an action identifier that is set by the client and a channel name that is set by the individual plugins.</p>
<p>To create a data acquisition plugin, we will use the <code class="docutils literal notranslate"><span class="pre">DataAcquisitionPluginService</span></code> helper class. This helper handles all of the gRPC request management, so we will only need to provide it with three things:</p>
<ul class="simple">
<li><p>A list of capabilities</p></li>
<li><p>A capture function to collect and store the data</p></li>
<li><p>[Optional] A function to respond to the initial acquisition request. This is used when we need to report that a requested capture is expected to take a long time (more than 30 seconds).</p></li>
</ul>
<section id="preparing-the-environment">
<h3>Preparing the environment<a class="headerlink" href="#preparing-the-environment" title="Permalink to this heading"></a></h3>
<section id="enter-your-spot-api-virtualenv">
<h4>Enter your Spot API virtualenv<a class="headerlink" href="#enter-your-spot-api-virtualenv" title="Permalink to this heading"></a></h4>
<p>Replace <code class="docutils literal notranslate"><span class="pre">my_spot_env</span></code> with the name of the virtualenv that you created using the <a class="reference internal" href="../quickstart.html"><span class="doc">Spot Quickstart Guide</span></a>:</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>my_spot_env/bin/activate
</pre></div>
</div>
<!--
#### Install requirements
<TODO>
--></section>
<section id="directory-setup">
<h4>Directory Setup<a class="headerlink" href="#directory-setup" title="Permalink to this heading"></a></h4>
<p>Make a folder called <code class="docutils literal notranslate"><span class="pre">~/data_capture</span></code> if you haven’t already that we’ll put everything into:</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span>mkdir<span class="w"> </span>~/data_capture
<span class="nb">cd</span><span class="w"> </span>~/data_capture
</pre></div>
</div>
<p>Copy (or <a href="../../../../../python/examples/data_acquisition_service/battery_service/battery_service.py">download</a>) the script below into a file called <code class="docutils literal notranslate"><span class="pre">battery_service.py</span></code> in the <code class="docutils literal notranslate"><span class="pre">~/data_capture</span></code> folder. This is the same as the <a class="reference internal" href="../../../python/examples/data_acquisition_service/README.html"><span class="doc">battery_service data acquisition example</span></a>.</p>
</section>
<section id="data-acquisition-plugin-service">
<h4>Data Acquisition Plugin Service<a class="headerlink" href="#data-acquisition-plugin-service" title="Permalink to this heading"></a></h4>
<p>Initial imports</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">logging</span>
<span class="kn">from</span> <span class="nn">google.protobuf</span> <span class="kn">import</span> <span class="n">json_format</span>

<span class="kn">from</span> <span class="nn">bosdyn.api</span> <span class="kn">import</span> <span class="n">data_acquisition_pb2</span><span class="p">,</span> <span class="n">data_acquisition_plugin_service_pb2_grpc</span>
<span class="kn">from</span> <span class="nn">bosdyn.client.data_acquisition_store</span> <span class="kn">import</span> <span class="n">DataAcquisitionStoreClient</span>
<span class="kn">from</span> <span class="nn">bosdyn.client.data_acquisition_plugin_service</span> <span class="kn">import</span> <span class="n">Capability</span><span class="p">,</span> <span class="n">DataAcquisitionPluginService</span><span class="p">,</span> <span class="n">DataAcquisitionStoreHelper</span>
<span class="kn">from</span> <span class="nn">bosdyn.client.directory_registration</span> <span class="kn">import</span> <span class="p">(</span><span class="n">DirectoryRegistrationClient</span><span class="p">,</span>
                                                 <span class="n">DirectoryRegistrationKeepAlive</span><span class="p">)</span>
<span class="kn">from</span> <span class="nn">bosdyn.client.robot_state</span> <span class="kn">import</span> <span class="n">RobotStateClient</span>
<span class="kn">import</span> <span class="nn">bosdyn.client.util</span>
<span class="kn">from</span> <span class="nn">bosdyn.client.util</span> <span class="kn">import</span> <span class="n">setup_logging</span>
<span class="kn">from</span> <span class="nn">bosdyn.client.server_util</span> <span class="kn">import</span> <span class="n">GrpcServiceRunner</span>
</pre></div>
</div>
<p>Constants used throughout, defining our service and capability</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="n">DIRECTORY_NAME</span> <span class="o">=</span> <span class="s1">&#39;data-acquisition-battery&#39;</span>
<span class="n">AUTHORITY</span> <span class="o">=</span> <span class="s1">&#39;data-acquisition-battery&#39;</span>
<span class="n">CAPABILITY</span> <span class="o">=</span> <span class="n">Capability</span><span class="p">(</span><span class="n">name</span><span class="o">=</span><span class="s1">&#39;battery&#39;</span><span class="p">,</span> <span class="n">description</span><span class="o">=</span><span class="s1">&#39;Battery level&#39;</span><span class="p">,</span> <span class="n">channel_name</span><span class="o">=</span><span class="s1">&#39;battery&#39;</span><span class="p">)</span>

<span class="n">_LOGGER</span> <span class="o">=</span> <span class="n">logging</span><span class="o">.</span><span class="n">getLogger</span><span class="p">(</span><span class="s1">&#39;battery_plugin&#39;</span><span class="p">)</span>
</pre></div>
</div>
<p>Next we create a class that we use to store any state used for our service. This adapter class only takes a Robot instance and uses it to create a client we will use for acquisition.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">BatteryAdapter</span><span class="p">:</span>
    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">sdk_robot</span><span class="p">):</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">client</span> <span class="o">=</span> <span class="n">sdk_robot</span><span class="o">.</span><span class="n">ensure_client</span><span class="p">(</span><span class="n">RobotStateClient</span><span class="o">.</span><span class="n">default_service_name</span><span class="p">)</span>
</pre></div>
</div>
<p>Now we write the function that does the main work. It takes as input the plugin data request and a store_helper object.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="k">def</span> <span class="nf">get_battery_data</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">request</span><span class="p">:</span> <span class="n">data_acquisition_pb2</span><span class="o">.</span><span class="n">AcquirePluginDataRequest</span><span class="p">,</span>
                         <span class="n">store_helper</span><span class="p">:</span> <span class="n">DataAcquisitionStoreHelper</span><span class="p">):</span>
</pre></div>
</div>
<p>The request includes an ActionIdentifier. We will combine this with our channel name to create an identifier for the data we are about to save.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="n">data_id</span> <span class="o">=</span> <span class="n">data_acquisition_pb2</span><span class="o">.</span><span class="n">DataIdentifier</span><span class="p">(</span><span class="n">action_id</span><span class="o">=</span><span class="n">request</span><span class="o">.</span><span class="n">action_id</span><span class="p">,</span>
                                                      <span class="n">channel</span><span class="o">=</span><span class="n">CAPABILITY</span><span class="o">.</span><span class="n">channel_name</span><span class="p">)</span>
</pre></div>
</div>
<p>Here we actually collect the data from the robot. In many cases this will be more complicated, but for this basic plugin it is a simple RPC.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="n">state</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">client</span><span class="o">.</span><span class="n">get_robot_state</span><span class="p">(</span><span class="n">timeout</span><span class="o">=</span><span class="mi">1</span><span class="p">)</span>
</pre></div>
</div>
<p>If you have a long-running capture, you should periodically check that the capture has not been cancelled by the client. Store_helper provides the cancel_check() helper which will raise a RequestCancelledError if the request has already been cancelled. If you need to do any cleanup upon cancellation, you should catch the exception, perform your cleanup, and re-raise it. Note that most store_helper functions can raise this exception as well.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="n">store_helper</span><span class="o">.</span><span class="n">cancel_check</span><span class="p">()</span>
</pre></div>
</div>
<p>At this point we have acquired all the data we need and will begin storing it. First, we will update our status to STATUS_SAVING (it was previously STATUS_ACQUIRING).</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="n">store_helper</span><span class="o">.</span><span class="n">state</span><span class="o">.</span><span class="n">set_status</span><span class="p">(</span><span class="n">data_acquisition_pb2</span><span class="o">.</span><span class="n">GetStatusResponse</span><span class="o">.</span><span class="n">STATUS_SAVING</span><span class="p">)</span>
</pre></div>
</div>
<p>Next we save the particular battery data we care about as associated metadata. The data we are saving is associated with the overall capture action in this case and not any other specific piece of data, so we set the reference_id to that action_id of the request.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="n">message</span> <span class="o">=</span> <span class="n">data_acquisition_pb2</span><span class="o">.</span><span class="n">AssociatedMetadata</span><span class="p">()</span>
        <span class="n">message</span><span class="o">.</span><span class="n">reference_id</span><span class="o">.</span><span class="n">action_id</span><span class="o">.</span><span class="n">CopyFrom</span><span class="p">(</span><span class="n">request</span><span class="o">.</span><span class="n">action_id</span><span class="p">)</span>
        <span class="n">message</span><span class="o">.</span><span class="n">metadata</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">update</span><span class="p">({</span>
            <span class="s2">&quot;battery_percentage&quot;</span><span class="p">:</span>
                <span class="n">state</span><span class="o">.</span><span class="n">power_state</span><span class="o">.</span><span class="n">locomotion_charge_percentage</span><span class="o">.</span><span class="n">value</span><span class="p">,</span>
            <span class="s2">&quot;battery_runtime&quot;</span><span class="p">:</span>
                <span class="n">json_format</span><span class="o">.</span><span class="n">MessageToJson</span><span class="p">(</span><span class="n">state</span><span class="o">.</span><span class="n">power_state</span><span class="o">.</span><span class="n">locomotion_estimated_runtime</span><span class="p">)</span>
        <span class="p">})</span>
        <span class="n">_LOGGER</span><span class="o">.</span><span class="n">info</span><span class="p">(</span><span class="s2">&quot;Retrieving battery data: </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">message</span><span class="o">.</span><span class="n">metadata</span><span class="o">.</span><span class="n">data</span><span class="p">))</span>
</pre></div>
</div>
<p>Finally, we begin saving the data into the store. After returning from this function, the status of this action will automatically be updated to <code class="docutils literal notranslate"><span class="pre">STATUS_COMPLETE</span></code> for us once all the stores we requested are complete.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>        <span class="n">store_helper</span><span class="o">.</span><span class="n">store_metadata</span><span class="p">(</span><span class="n">message</span><span class="p">,</span> <span class="n">data_id</span><span class="p">)</span>
</pre></div>
</div>
<p>The remaining parts of the file handle setting up, running and registering the service. To create the service, we use the DataAcquisitionPluginService helper, which needs the capabilities the plugin implements, and the function to capture the data (which in our case is the get_battery_data method).</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">make_servicer</span><span class="p">(</span><span class="n">sdk_robot</span><span class="p">):</span>
<span class="w">    </span><span class="sd">&quot;&quot;&quot;Create the data acquisition servicer for the battery data.&quot;&quot;&quot;</span>
    <span class="n">adapter</span> <span class="o">=</span> <span class="n">BatteryAdapter</span><span class="p">(</span><span class="n">sdk_robot</span><span class="p">)</span>
    <span class="k">return</span> <span class="n">DataAcquisitionPluginService</span><span class="p">(</span><span class="n">sdk_robot</span><span class="p">,</span> <span class="p">[</span><span class="n">CAPABILITY</span><span class="p">],</span> <span class="n">adapter</span><span class="o">.</span><span class="n">get_battery_data</span><span class="p">,</span>
                                        <span class="n">logger</span><span class="o">=</span><span class="n">_LOGGER</span><span class="p">)</span>
</pre></div>
</div>
<p>To run the service, we use the GrpcServiceRunner helper together with the servicer we defined above.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">def</span> <span class="nf">run_service</span><span class="p">(</span><span class="n">sdk_robot</span><span class="p">,</span> <span class="n">port</span><span class="p">):</span>
    <span class="n">add_servicer_to_server_fn</span> <span class="o">=</span> <span class="n">data_acquisition_plugin_service_pb2_grpc</span><span class="o">.</span><span class="n">add_DataAcquisitionPluginServiceServicer_to_server</span>

    <span class="k">return</span> <span class="n">GrpcServiceRunner</span><span class="p">(</span><span class="n">make_servicer</span><span class="p">(</span><span class="n">sdk_robot</span><span class="p">),</span> <span class="n">add_servicer_to_server_fn</span><span class="p">,</span> <span class="n">port</span><span class="p">,</span>
                             <span class="n">logger</span><span class="o">=</span><span class="n">_LOGGER</span><span class="p">)</span>
</pre></div>
</div>
<p>To run the script, we use a set of arguments that define which robot to use, the payload credentials, and options for registering the service endpoint.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s1">&#39;__main__&#39;</span><span class="p">:</span>
    <span class="kn">import</span> <span class="nn">argparse</span>
    <span class="n">parser</span> <span class="o">=</span> <span class="n">argparse</span><span class="o">.</span><span class="n">ArgumentParser</span><span class="p">()</span>
    <span class="n">bosdyn</span><span class="o">.</span><span class="n">client</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">add_base_arguments</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
    <span class="n">bosdyn</span><span class="o">.</span><span class="n">client</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">add_payload_credentials_arguments</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
    <span class="n">bosdyn</span><span class="o">.</span><span class="n">client</span><span class="o">.</span><span class="n">util</span><span class="o">.</span><span class="n">add_service_endpoint_arguments</span><span class="p">(</span><span class="n">parser</span><span class="p">)</span>
    <span class="n">options</span> <span class="o">=</span> <span class="n">parser</span><span class="o">.</span><span class="n">parse_args</span><span class="p">()</span>
</pre></div>
</div>
<p>We set up our logging options based on the specified command line argument</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="n">setup_logging</span><span class="p">(</span><span class="n">options</span><span class="o">.</span><span class="n">verbose</span><span class="p">)</span>
</pre></div>
</div>
<p>Next we create and authenticate the Robot instance using payload credentials.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="n">sdk</span> <span class="o">=</span> <span class="n">bosdyn</span><span class="o">.</span><span class="n">client</span><span class="o">.</span><span class="n">create_standard_sdk</span><span class="p">(</span><span class="s2">&quot;BatteryPlugin&quot;</span><span class="p">)</span>
    <span class="n">robot</span> <span class="o">=</span> <span class="n">sdk</span><span class="o">.</span><span class="n">create_robot</span><span class="p">(</span><span class="n">options</span><span class="o">.</span><span class="n">hostname</span><span class="p">)</span>
    <span class="n">robot</span><span class="o">.</span><span class="n">authenticate_from_payload_credentials</span><span class="p">(</span><span class="n">options</span><span class="o">.</span><span class="n">guid</span><span class="p">,</span> <span class="n">options</span><span class="o">.</span><span class="n">secret</span><span class="p">)</span>
</pre></div>
</div>
<p>Next we create and run the service using the helper we defined earlier.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="n">service_runner</span> <span class="o">=</span> <span class="n">run_service</span><span class="p">(</span><span class="n">robot</span><span class="p">,</span> <span class="n">options</span><span class="o">.</span><span class="n">port</span><span class="p">)</span>
</pre></div>
</div>
<p>Lastly, we register the service with the robot’s directory and then leave it running until it is killed.</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span>    <span class="n">dir_reg_client</span> <span class="o">=</span> <span class="n">robot</span><span class="o">.</span><span class="n">ensure_client</span><span class="p">(</span><span class="n">DirectoryRegistrationClient</span><span class="o">.</span><span class="n">default_service_name</span><span class="p">)</span>
    <span class="n">keep_alive</span> <span class="o">=</span> <span class="n">DirectoryRegistrationKeepAlive</span><span class="p">(</span><span class="n">dir_reg_client</span><span class="p">,</span> <span class="n">logger</span><span class="o">=</span><span class="n">_LOGGER</span><span class="p">)</span>
    <span class="n">keep_alive</span><span class="o">.</span><span class="n">start</span><span class="p">(</span><span class="n">DIRECTORY_NAME</span><span class="p">,</span> <span class="n">DataAcquisitionPluginService</span><span class="o">.</span><span class="n">service_type</span><span class="p">,</span> <span class="n">AUTHORITY</span><span class="p">,</span>
                     <span class="n">options</span><span class="o">.</span><span class="n">host_ip</span><span class="p">,</span> <span class="n">service_runner</span><span class="o">.</span><span class="n">port</span><span class="p">)</span>

    <span class="k">with</span> <span class="n">keep_alive</span><span class="p">:</span>
        <span class="n">service_runner</span><span class="o">.</span><span class="n">run_until_interrupt</span><span class="p">()</span>
</pre></div>
</div>
</section>
</section>
</section>
<section id="testing-the-plugin">
<h2>Testing the plugin<a class="headerlink" href="#testing-the-plugin" title="Permalink to this heading"></a></h2>
<section id="registering-a-payload">
<h3>Registering a payload<a class="headerlink" href="#registering-a-payload" title="Permalink to this heading"></a></h3>
<p>In order to test these services, we need payload authentication credentials. Those credentials are created by registering a payload with the robot. The payload can represent an actual physical payload with mass and dimensions specified in the payload registration request, or a massless payload. To register a massless payload, please run the payload SDK example https://github.com/boston-dynamics/spot-sdk/tree/master/python/examples/payloads.</p>
<p>For more information on registering payloads, please take a look at <a class="reference internal" href="../../payload/configuring_payload_software.html"><span class="doc">this SDK documentation article</span></a>.</p>
<p>The SpotCORE payload credentials can also be used to authenticate these image and data acquisition plugin services. They are located in <code class="docutils literal notranslate"><span class="pre">/opt/payload_credentials/payload_guid_and_secret</span></code> in SpotCORE.</p>
<p>For testing on our development machine, we will use the credentials created and registered in <a class="reference external" href="daq1.html#register-a-payload-for-development">Part 1</a>.</p>
</section>
<section id="running-the-service">
<h3>Running the service<a class="headerlink" href="#running-the-service" title="Permalink to this heading"></a></h3>
<p>The simplest invocation of the service is just to run</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span><span class="nb">export</span><span class="w"> </span><span class="nv">BATTERY_PORT</span><span class="o">=</span><span class="m">5050</span>
python3<span class="w"> </span>battery_service.py<span class="w"> </span>--payload-credentials-file<span class="w"> </span><span class="nv">$CRED_FILE</span><span class="w"> </span><span class="nv">$ROBOT_IP</span><span class="w"> </span>--host-ip<span class="w"> </span><span class="nv">$SELF_IP</span><span class="w"> </span>--port<span class="w"> </span><span class="nv">$BATTERY_PORT</span>
</pre></div>
</div>
<p>Note that you will need to either disable any firewall or open the specified port to allow the robot to contact the service. If you are unsure of the correct ip address to use for <code class="docutils literal notranslate"><span class="pre">--host-ip</span></code>, you can discover it via the bosdyn.client command line program:</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span>python3<span class="w"> </span>-m<span class="w"> </span>bosdyn.client<span class="w"> </span><span class="nv">$ROBOT_IP</span><span class="w"> </span>self-ip
</pre></div>
</div>
<p>Be sure that the <code class="docutils literal notranslate"><span class="pre">$BATTERY_PORT</span></code> is not blocked on your computer.</p>
<p>Once this is running, use the <a class="reference external" href="../../../python/examples/tester_programs/README.html#testing-a-data-acquisition-plugin"><code class="docutils literal notranslate"><span class="pre">plugin_tester.py</span></code> program</a> to test its basic functionality.</p>
<div class="highlight-sh notranslate"><div class="highlight"><pre><span></span>python3<span class="w"> </span>plugin_tester.py<span class="w"> </span><span class="nv">$ROBOT_IP</span><span class="w"> </span>--service-name<span class="w"> </span>data-acquisition-battery
</pre></div>
</div>
<p>This will attempt capture each capability listed by the plugin, as well testing that cancelling acquisitions works as expected. It will save the downloaded results of the acquisition tests to the current directory (this can be modified via the <code class="docutils literal notranslate"><span class="pre">--destination-folder</span></code> argument).</p>
<p>Common errors at this point:</p>
<ul class="simple">
<li><p>Firewall blocking requests</p></li>
<li><p>Incorrect host-ip specified</p></li>
</ul>
</section>
</section>
<section id="head-over-to-part-4-deploying-to-the-core-i-o">
<h2>Head over to <a class="reference internal" href="daq4.html"><span class="doc">Part 4: Deploying to the CORE I/O</span></a> &gt;&gt;<a class="headerlink" href="#head-over-to-part-4-deploying-to-the-core-i-o" title="Permalink to this heading"></a></h2>
<p><a class="reference internal" href="daq2.html"><span class="doc">&lt;&lt; Previous Page</span></a>
|
<a class="reference internal" href="daq4.html"><span class="doc">Next Page &gt;&gt;</span></a></p>
</section>
</section>


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